Dynamic modeling and steering mode analysis on integral ladle-transport vehicle(PDF)
长安大学学报（自然科学版）[ISSN:1006-6977/CN:61-1281/TN]
- Issue:
- 2017年05期
- Page:
- 113-119
- Research Field:
- 汽车与机械工程
- Publishing date:
Info
- Title:
- Dynamic modeling and steering mode analysis on integral ladle-transport vehicle
- Author(s):
- CHEN Hui; LIU Yuan-yuan; ZHAO Xian-qiong; XIAO You-gang; LIU Yi-lun
- 1. State Key Laboratory of High Performance Complex Manufacture, Central South University, Changsha 410083, Hunan, China; 2. School of Automotive Engineering, Hunan Mechanical & Electrical Polytechnic, Changsha 410151, Hunan, China; 3. School of Traffic and Transportation Engineering, Central South University, Changsha 410075, Hunan, China
- Keywords:
- automotive engineering; ladle-transport vehicle; dynamic model; multi-axle steering; roll vibration
- PACS:
- U462.3
- DOI:
- -
- Abstract:
- High temperature ladle-transport vehicle has the characteristic that the inertia product of car-body is greater than the principal axis of inertia, which makes the vehicle easy to roll over in steering. In order to enhance the steering safety of ladle-transport, the steering dynamic model was established for an integral type of four-axle high temperature ladle-transport vehicle combining Newton-Euler mechanics theory together with Ackerman principle, where the huge products of inertia of car-body were taken into account. Four freedom degrees of car-body, such as longitudinal motion, lateral motion, yaw vibration, and rolling motion were included in the model, and the focus was given to the rolling motion of car-body under different steering modes. And experiments were conducted for a four-axle ladle-transport vehicle weighted 230 t to test its rolling behaviors during the process of steering. The results show that the rolling behavior of car-body during steering belongs to an under-damping vibration, which gradually decreases over time. The theoretical results agree well with the experiments, verifying the validity of the steering dynamics model of ladle-transport vehicle. The larger inertia product increases the roll amplitude by about 15% and reduces steering safety. When the steering performance of ladle-transport vehicle meets the Ackerman principle, the change of steering-axle’s location makes effect on the amplitude of roll vibration, but has no influence on frequency and steady-state response. Rolling amplitude of car-body resulted from all-wheel steering, where the steering axle does not overlap with the real axle of vehicle, can be smaller than that resulted from six-wheel steering, where the steering axle overlaps with one of the real axles of vehicle. Therefore, the process of steering is steadier and safer. And this law is not affected by the steering radius and speed of the vehicle. For different structure parameters of ladle-transport vehicle, such as wheel base and axle base, better steering performance can still be obtained from all-wheel steering than that from six-wheel steering.
Last Update: 2017-10-16